WO2021176575A1 - Dispositif de communication, véhicule, programme, et procédé de communication - Google Patents

Dispositif de communication, véhicule, programme, et procédé de communication Download PDF

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Publication number
WO2021176575A1
WO2021176575A1 PCT/JP2020/009000 JP2020009000W WO2021176575A1 WO 2021176575 A1 WO2021176575 A1 WO 2021176575A1 JP 2020009000 W JP2020009000 W JP 2020009000W WO 2021176575 A1 WO2021176575 A1 WO 2021176575A1
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WIPO (PCT)
Prior art keywords
information
target
unit
terminal
communication device
Prior art date
Application number
PCT/JP2020/009000
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English (en)
Japanese (ja)
Inventor
崇弘 呉橋
井上　茂
泰明 郡司
古海　洋
康弘 宮地
Original Assignee
本田技研工業株式会社
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Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to JP2022504827A priority Critical patent/JP7403629B2/ja
Priority to CN202080095423.XA priority patent/CN115039158B/zh
Priority to PCT/JP2020/009000 priority patent/WO2021176575A1/fr
Publication of WO2021176575A1 publication Critical patent/WO2021176575A1/fr
Priority to US17/897,231 priority patent/US20220406190A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • G—PHYSICS
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • H—ELECTRICITY
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    • H04W—WIRELESS COMMUNICATION NETWORKS
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    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Definitions

  • the present invention relates to a communication device, a vehicle, a program, and a communication method.
  • Patent Document 1 describes "a vehicle communication terminal that transmits a search signal and receives a response signal”.
  • Patent Document 2 describes that "... a road and ... a crossing person are detected from an image captured by an in-vehicle camera”.
  • Patent Document 3 describes "an image recognition means for recognizing a pedestrian from an image around a vehicle”.
  • a communication device in the first aspect of the present invention, includes a target identification unit that identifies the position of a target that may approach a moving object.
  • the communication device includes a transmission unit that transmits request information including the position information of the external terminal that is the target of requesting the position information based on the position of the target specified by the target identification unit.
  • the communication device includes a receiving unit that receives response information for the request information.
  • the transmission unit transmits warning information based on the position information of the external terminal included in the response information.
  • the target identification unit may correct the position information of the target based on the position information of the external terminal included in the response information.
  • the transmission unit may transmit warning information including the position information corrected by the target identification unit.
  • the target identification unit may determine whether or not to warn the target based on the position information of the external terminal included in the response information.
  • the transmitting unit may transmit the warning information when the target specifying unit determines that the target is warned.
  • the target identification unit may include a moving body position information acquisition unit that acquires the position information of the moving body.
  • the target identification unit may include an image acquisition unit that acquires an image of the outside of the moving body.
  • the object identification unit may include an extraction unit that extracts the object that has a risk of approaching the moving object from the image acquired by the image acquisition unit.
  • the target identification unit may include a target distance acquisition unit that acquires the distance to the target extracted by the extraction unit.
  • the target identification unit may include a target position calculation unit that calculates the position of the target that has a risk of approaching the moving body based on the position information of the moving body and the distance to the target.
  • the request information may include instruction information for instructing the external terminal to reposition the position information of the external terminal.
  • the response information may include the address information of the external terminal.
  • the transmitting unit may transmit the warning information destined for the address information.
  • the transmission unit may transmit at least one of the warning information and the request information to the external terminal by direct communication.
  • the transmitting unit may broadcast at least one of the warning information and the request information.
  • the target distance acquisition unit may acquire the distance to the target by a radar installed on the moving body.
  • the target distance acquisition unit may acquire the distance to the target based on the image acquired by the image acquisition unit.
  • the communication device may include a communication control unit in which the transmission unit selects a transmission method for transmitting at least one of the warning information and the request information.
  • the communication control unit selects the transmission method based on at least one of the moving speed of the target, the moving speed of the moving body, and the relative speed between the moving body and the target. good.
  • the communication device may include a communication control unit in which the transmission unit selects a transmission method for transmitting at least one of the warning information and the request information.
  • the communication control unit may select the transmission method based on the type of the target.
  • the transmission method is different from the first transmission method in which at least one of the warning information and the request information is transmitted with the first signal strength and the first signal strength in which at least one of the warning information and the request information is different from the first signal strength. It may include a second transmission method of transmitting with two signal strengths. The selection of the transmission method may include selecting one of the first transmission method and the second transmission method.
  • the transmission method includes a first transmission method in which at least one of the warning information and the request information is transmitted by unicast to an external terminal associated with the target, and at least one of the warning information and the request information by broadcasting. May include a second transmission method of transmitting.
  • the selection of the transmission method may include selecting one of the first transmission method and the second transmission method.
  • the object may include at least one of a person and a vehicle.
  • the moving body may be a vehicle.
  • a vehicle is provided.
  • the vehicle is equipped with the above communication device.
  • the program causes the computer to act as a targeting unit that locates a target that is at risk of approaching a moving object.
  • the program causes the computer to function as a transmission unit that transmits request information including the position information of the external terminal that is the target of requesting the position information based on the position of the target specified by the target identification unit.
  • the program causes the computer to function as a receiver for receiving response information to the request information.
  • the transmission unit transmits warning information based on the position information of the external terminal included in the response information.
  • a communication method comprises a step of identifying the position of an object at risk of approaching a moving object.
  • the communication method includes a step of transmitting request information including the position information of the external terminal that is the request target of the position information based on the specified position of the target.
  • the communication method includes a step of receiving response information for the request information.
  • the communication method includes a step of transmitting warning information based on the position information of the external terminal included in the response information.
  • the usage scene of the warning system 10 is schematically shown.
  • the system configuration of the vehicle 20 is shown.
  • the image 300 captured by the camera 22 is schematically shown.
  • the situation in which the image 300 is made is schematically shown.
  • the flow of processing executed by the vehicle 20, the terminal 82a, and the terminal 82b is shown schematically.
  • the flow of other processing executed by the vehicle 20, the terminal 82a, and the terminal 82b is schematically shown.
  • the data structure of the transmission method information referred to by the communication control unit 270 for specifying the transmission method is shown.
  • a flowchart relating to a communication method executed by the communication device 24 is shown.
  • An example of a computer 2000 is shown.
  • FIG. 1 schematically shows a usage scene of the warning system 10.
  • the warning system 10 includes a vehicle 20, a terminal 82a, and a terminal 82b.
  • the terminal 82a is a terminal possessed by the pedestrian 80a
  • the terminal 82b is a terminal possessed by the pedestrian 80b.
  • Pedestrian 80a and pedestrian 80b may be collectively referred to as "pedestrian 80".
  • the terminal 82a and the terminal 82b may be collectively referred to as "terminal 82".
  • the vehicle 20 is an example of a “moving body”.
  • the vehicle 20 transmits warning information to the terminal 82 when there is a pedestrian 80 who is in danger of approaching the vehicle 20.
  • the terminal 82 receives the warning information, the terminal 82 warns the pedestrian 80 by displaying a warning, sounding, vibrating, or the like. As a result, the pedestrian 80 is notified that the vehicle 20 is approaching.
  • the terminal 82 is an example of an "external terminal".
  • the terminal 82 may be a mobile information terminal such as a mobile phone or a smartphone.
  • the terminal 82 has a positioning function.
  • the terminal 82 receives, for example, a radio wave transmitted from a GNSS (Global Navigation Satellite system) satellite, and measures the current position of the terminal 82 based on the radio wave transmitted from a GNSS (Global Navigation Satellite system) satellite.
  • the terminal 82 periodically updates the current position of the terminal 82 by performing positioning periodically.
  • the case where the "target” having a risk of approaching the vehicle 20 is a "pedestrian” will be mainly described.
  • the "object” that has a risk of approaching the vehicle 20 may be another moving body or vehicle.
  • the "external terminal” may be a communication device such as a telematics control unit (TCU) provided in another vehicle.
  • TCU telematics control unit
  • the vehicle 20 includes a sensor 29 and a communication device 24.
  • the sensor 29 includes a camera and radar.
  • the sensor 29 includes a camera and radar.
  • the sensor 29 acquires information in the range from the left boundary line 31 to the right boundary line 32.
  • the sensor 29 acquires an image and ranging information in the range from the left boundary line 31 to the right boundary line 32.
  • the communication device 24 recognizes the image acquired by the camera and detects the pedestrian 80. Further, the communication device 24 detects the current position of the pedestrian 80 based on the distance measurement information acquired by the radar and the current position of the vehicle 20.
  • the communication device 24 specifies the moving direction of the pedestrian 80 and the like based on the direction of the pedestrian 80 and the like.
  • the communication device 24 identifies the danger of approaching the vehicle 20, particularly the pedestrian 80 that may be on the planned travel path of the vehicle 20, based on the current position and direction of movement of the pedestrian 80.
  • the vehicle 20 is traveling on the roadway 50.
  • a sidewalk 60 is attached to the roadway 50.
  • the sensor 29 detects the pedestrian 80a and the pedestrian 80b walking in the sidewalk 60. Since the pedestrian 80b is oriented in the direction of walking in the sidewalk 60 in parallel with the roadway 50, the communication device 24 determines that the pedestrian 80b is unlikely to approach the vehicle 20. On the other hand, since the pedestrian 80a faces the direction toward the roadway 50, the communication device 24 determines that the pedestrian 80a has a risk of approaching the vehicle 20.
  • the communication device 24 transmits request information for requesting the position information from the terminal 82 in order to acquire the position information of the terminal 82a.
  • the communication device 24 includes the position information indicating the position of the pedestrian 80a detected by the sensor 29 in the request information.
  • the terminal 82a receives the request information, the terminal 82a performs the positioning function of the terminal 82a when the distance between the position indicated by the position information included in the request information and the current position of the terminal 82a is shorter than a predetermined value. Use to position.
  • the terminal 82a transmits the response information including the latest position information obtained by positioning and the address information of the terminal 82a to the vehicle 20.
  • the terminal 82b when the terminal 82b receives the request information, it determines that the distance between the position indicated by the position information included in the request information and the current position of the terminal 82b is longer than a predetermined value, and the response information. Do not send.
  • the communication device 24 When the communication device 24 receives the response information from the terminal 82a, the communication device 24 transmits warning information based on the position information of the terminal 82a included in the response information. For example, does the communication device 24 have a risk of the pedestrian 80a approaching the vehicle 20 based on the position information of the terminal 82a included in the response information and the moving direction of the pedestrian 80a identified by the sensor 29? The final decision is whether or not. When the communication device 24 determines that the pedestrian 80a is in danger of approaching the vehicle 20, the communication device 24 transmits warning information to the address information of the terminal 82a included in the response information.
  • the terminal 82a When the terminal 82a receives the warning information, the terminal 82a warns the pedestrian 80a by the HMI (Human Machine Interface) function of the terminal 82a.
  • the terminal 82b receives the radio wave of the warning information transmitted from the vehicle 20 to the terminal 82a, the terminal 82b determines that the destination of the warning information is not the terminal 82b and does not give a warning to the pedestrian 80b.
  • the communication device 24 includes the position information of the pedestrian 80a, which is predicted to approach the vehicle 20, in the request information and transmits the position information to the terminal 82. Therefore, the terminal 82a determines that it should respond to the request information based on the position information included in the request information and the current position of the terminal 82a, performs positioning, and transfers the latest position information of the terminal 82a to the vehicle 20. Send. Thereby, the communication device 24 can determine whether or not it is necessary to transmit the warning information by using the latest position information of the terminal 82a. Then, when the communication device 24 determines that it is not necessary to transmit the warning information, the communication device 24 can prevent the warning information from being transmitted. As a result, it is possible to suppress an increase in communication traffic.
  • the terminal 82b When the terminal 82b receives the request information of the position information, it determines that it is not necessary to respond to the request information based on the position information included in the request information and the current position of the terminal 82b. Therefore, the terminal 82b only needs to discard the request information received from the vehicle 20, and does not need to perform further processing based on the request information. Further, since the terminal 82b does not transmit the response information, it is possible to suppress an increase in communication traffic.
  • the warning system 10 As a method of detecting an object that may approach the vehicle 20, there is a method of detecting using radar distance measurement information and a movement vector.
  • this method for example, an object moving on a pedestrian bridge or an elevated road may be erroneously recognized as an object approaching the vehicle 20.
  • it is necessary to perform three-dimensional recognition processing with reference to the three-dimensional map information.
  • a plurality of measurements are required to calculate the movement vector, it may take time to detect an object having a risk of approaching the vehicle 20.
  • the type and direction of the object approaching the vehicle 20 can be detected by using image recognition. Therefore, the warning system 10 approaches the vehicle 20 mainly based on the distance measurement information and the movement vector. It is possible to appropriately detect an object approaching the vehicle 20 as compared with the case of detecting an object to be used.
  • the range in which the sensor 29 acquires information may be variable depending on the speed of the vehicle 20 and the external conditions of the vehicle 20. By making the range in which the sensor 29 acquires information variable according to the vehicle speed and the situation outside the vehicle, it is possible to select an object that is more suitable for the situation.
  • the communication device 24 transmits warning information based on the latest position information measured by the terminal 82. Therefore, the terminal 82a of the pedestrian 80a that needs a warning can be made to give a warning, and the terminal 82a of the pedestrian 80b that does not need a warning can be prevented from giving a warning. Therefore, it is possible to prevent the warning from being given to the unnecessary pedestrian 80. Further, since it is possible to suppress the occurrence of unnecessary communication between the terminal 82 and the vehicle 20, it is possible to suppress an increase in communication traffic. In particular, the terminal 82b does not need to perform processing such as confirming the position of the vehicle 20 approaching the pedestrian 80b or communicating with the vehicle 20.
  • the communication between the communication device 24 and the terminal 82 is executed by direct communication.
  • the communication device 24 directly communicates with the terminal 82 by short-range direct communication in Cellular-V2X.
  • the short-distance direct communication in Cellular-V2X includes a communication method such as LTE-V2X PC5 and 5G-V2X PC5 (abbreviated as "PC5" in the present embodiment).
  • a form using Wi-Fi or DSRC Dedicated Short Range Communications
  • any direct communication method such as Bluetooth (registered trademark) may be adopted in addition to Cellular-V2X and DSRC (registered trademark).
  • the communication device 24 may directly communicate with the terminal 82 by using the communication infrastructure provided in ITS (Intelligent Transport Systems).
  • FIG. 2 shows the system configuration of the vehicle 20.
  • the vehicle 20 includes a sensor 29, a communication device 24, and a driving support control device 30.
  • the sensor 29 includes a radar 21, a camera 22, a GNSS receiver 25, and a vehicle speed sensor 26.
  • the radar 21 may be a LiDAR, a millimeter wave radar, or the like.
  • the GNSS receiving unit 25 receives radio waves transmitted from the GNSS satellite.
  • the GNSS receiving unit 25 generates information indicating the current position of the vehicle 100 based on the signal received from the GNSS satellite.
  • the camera 22 captures the periphery of the vehicle 20 to generate image information. For example, the camera 22 captures an image of the vehicle 20 in the traveling direction to generate image information.
  • the sensor 29 may include a position sensor such as an odometer and an IMU (inertial measurement unit) such as an acceleration sensor and an attitude sensor.
  • the communication device 24 includes a processing unit 200, a storage unit 280, and a communication unit 294.
  • the processing unit 200 is realized by, for example, an arithmetic processing unit including a processor.
  • the storage unit 280 is realized by including a non-volatile storage medium.
  • the processing unit 200 performs processing using the information stored in the storage unit 280.
  • the communication unit 294 is responsible for direct communication with the terminal 82.
  • the communication unit 294 includes a transmission unit 290 and a reception unit 292.
  • the processing unit 200 may be realized by an ECU (Electronic Control Unit) including a microcomputer equipped with a CPU, ROM, RAM, I / O, a bus, and the like.
  • ECU Electronic Control Unit
  • the processing unit 200 includes a target identification unit 210, a speed calculation unit 260, and a communication control unit 270.
  • the target identification unit 210 identifies the position of a target that may approach the vehicle 20.
  • the "object at risk of approaching the vehicle 20" may be, for example, a moving body and may include at least one of a person and a vehicle.
  • “approaching” may include, for example, approaching the planned travel route of the vehicle 20 or overlapping the planned travel route.
  • the target identification unit 210 may specify the position of a pedestrian who is at risk of approaching the vehicle 20.
  • the target identification unit 210 includes an image acquisition unit 220, an extraction unit 222, a target distance acquisition unit 230, a target position calculation unit 240, and a moving body position information acquisition unit 250.
  • the moving body position information acquisition unit 250 acquires the position information of the vehicle 20. Specifically, the moving body position information acquisition unit 250 acquires the position information of the vehicle 20 from the GNSS receiving unit 25.
  • the image acquisition unit 220 acquires an image of the outside of the vehicle 20. Specifically, the image acquisition unit 220 acquires the image captured by the camera 22 from the camera 22.
  • the extraction unit 222 extracts an object having a risk of approaching the vehicle 20 from the image acquired by the image acquisition unit 220.
  • the target distance acquisition unit 230 acquires the distance to the target extracted by the extraction unit 222. In addition to the images acquired by the image acquisition unit 220, the target distance acquisition unit 230 may acquire the distance to the target by the radar 21 installed in the vehicle 20, and fuses them to acquire them based on statistical processing.
  • the target distance acquisition unit 230 may acquire the distance to the target based on the image acquired by the image acquisition unit 220.
  • the target position calculation unit 240 calculates the position of the target at risk of approaching the vehicle 20 based on the position information of the vehicle 20 and the distance to the target.
  • the transmission unit 290 transmits request information including the position information of the terminal 82 for which the position information is requested, based on the position of the target specified by the target identification unit 210.
  • the terminal 82 transmits the response information including the position information positioned by the terminal 82.
  • the transmission unit 290 may include instruction information for instructing the terminal 82 to reposition the position information of the terminal 82.
  • the terminal 82 receives the request information, it repositions and transmits the response information including the position information obtained by the repositioning.
  • the response information may include address information for direct or indirect communication with the terminal 82.
  • the receiving unit 292 receives the response information for the request information.
  • the transmission unit 290 transmits warning information based on the position information of the terminal 82 included in the response information.
  • the target identification unit 210 may correct the target position information based on the position information of the terminal 82 included in the response information.
  • the transmission unit 290 may transmit warning information including the position information corrected by the target identification unit 210.
  • the target identification unit 210 identifies the position information of the terminal 82 included in the response information as the target position information, and the transmission unit 290 transmits warning information including the position information of the terminal 82 included in the response information. It's okay.
  • the transmission unit 290 may transmit warning information including the position information of the terminal 82 to which the warning should be output, based on the position information of the terminal 82.
  • the transmission unit 290 instructs the terminal 82 that has received the warning information to output a warning when the terminal 82 is located within a range determined from the position information included in the warning information. ..
  • the target identification unit 210 may determine whether or not to warn the target based on the position information of the terminal 82 included in the response information.
  • the transmission unit 290 may transmit warning information when it is determined that the target identification unit 210 warns the target.
  • the target identification unit 210 has a risk of the target approaching the vehicle 20 based on the position information of the terminal 82 included in the response information, the position of the vehicle 20, the moving direction of the vehicle 20, and the speed of the vehicle 20. It may be determined again whether or not there is a presence, and the transmission unit 290 may transmit warning information when the target identification unit 210 determines that there is a risk that the target approaches the vehicle 20.
  • the transmission unit 290 may transmit the warning information destined for the address information.
  • the transmission unit 290 may transmit the request information to the terminal 82 by direct communication.
  • the transmission unit 290 may transmit the request information by broadcasting.
  • the transmission unit 290 may transmit the warning information to the terminal 82 by direct communication.
  • the transmission unit 290 may transmit the warning information by broadcasting.
  • the transmission unit 290 may transmit at least one of the request information and the warning information by directional communication.
  • the transmission unit 290 may have a directional antenna and transmit at least one of the request information and the warning information toward the target position specified by the target identification unit 210.
  • the speed calculation unit 260 calculates information on the moving speed of the target extracted by the extraction unit 222.
  • the speed calculation unit 260 may calculate the moving speed of the target extracted by the extraction unit 222 based on the time change of the position calculated by the target position calculation unit 240.
  • the speed calculation unit 260 may calculate the relative speed between the target extracted by the extraction unit 222 and the moving speed of the vehicle 20 detected by the vehicle speed sensor 26.
  • the speed calculation unit 260 may calculate the relative speed between the target extracted by the extraction unit 222 and the moving speed of the vehicle 20 detected by the vehicle speed sensor 26 based on the time change of the distance acquired by the target distance acquisition unit 230. ..
  • the speed calculation unit 260 may calculate the relative speed based on the time change of the distance acquired by the target distance acquisition unit 230.
  • the communication control unit 270 selects a transmission method in which the transmission unit 290 transmits at least one of the request information and the warning information.
  • the communication control unit may select the transmission method based on at least one of the moving speed of the target, the moving speed of the vehicle 20, and the relative speed between the vehicle 20 and the target.
  • the communication control unit 270 may select the transmission method based on the type of the target.
  • the transmission method is a first transmission method in which at least one of the request information and the warning information is transmitted with the first signal strength, and at least one of the request information and the warning information is transmitted with a second signal strength different from the first signal strength.
  • a second transmission method may be included.
  • the selection of the transmission method may include selecting one of the first transmission method and the second transmission method.
  • the transmission method is a first transmission method in which at least one of the request information and the warning information is transmitted by unicast to the terminal 82 associated with the target, and a second transmission method in which at least one of the request information and the warning information is transmitted by broadcasting. It may include a transmission method.
  • the selection of the transmission method may include selecting one of the first transmission method and the second transmission method.
  • the driving support control device 30 uses the information detected by the sensor 29 to provide driving support for the vehicle 20.
  • the driving support control device 30 may be realized by an ECU having a function of an advanced driving support system (ADAS; Advanced Driver-Assistance Systems).
  • ADAS Advanced Driver-Assistance Systems
  • FIG. 3 schematically shows an image 300 captured by the camera 22.
  • FIG. 4 schematically shows a situation in which the image 300 is acquired.
  • the image acquisition unit 220 acquires the image 300 from the camera 22.
  • the extraction unit 222 analyzes the image 300 and extracts an object of the pedestrian 80 who is at risk of approaching the vehicle 20.
  • the extraction unit 222 extracts an object of a predetermined object that can be a “target” of the present embodiment, such as a person or a vehicle, from the image 300, and determines the orientation of each object based on the extracted object. Identify.
  • the extraction unit 222 may specify the orientation of each object based on the shape of the object of the object.
  • the extraction unit 222 identifies an object of an object that has a risk of approaching the planned travel route of the vehicle 20 based on the specified orientation.
  • the object 310a and the object 310b are human objects.
  • the body of the object 310a is oriented in the direction of the roadway 50.
  • the body of the object 310b is not oriented toward the roadway 50. Therefore, the extraction unit 222 extracts the object 310a as an object that has a risk of approaching the vehicle 20.
  • the target distance acquisition unit 230 acquires distance measurement information from the radar 21.
  • the target distance acquisition unit 230 calculates the distance L from the reference position P1 of the vehicle 20 to the position P2 of the pedestrian 80a based on the distance measurement information acquired from the radar 21 and the position of the object 310a on the image 300. ..
  • the target distance acquisition unit 230 may cause the radar 21 to measure the distance to an object existing in the direction in the real space corresponding to the position of the object 310a.
  • the target distance acquisition unit 230 acquires distance measurement information of a plurality of points in the real space from the radar 21, and from the distance measurement information of the plurality of points, the point corresponding to the position of the object 310a on the image 300.
  • the distance L may be specified by selecting the distance measurement information.
  • the target distance acquisition unit 230 may specify the distance L by analyzing the image 300.
  • the target distance acquisition unit 230 may specify the distance L based on the size of the object in the image 300.
  • the target distance acquisition unit 230 uses the fact that the amount of blur and the amount of color shift differ depending on the distance to the subject, and sets the distance L based on the amount of blur and the amount of color shift extracted from the area of the object 310a of the image. May be specified.
  • the target distance acquisition unit 230 may specify the distance L based on the parallax information acquired by the camera 22.
  • the target distance acquisition unit 230 may specify the distance L by extracting parallax information from the image obtained from the twin-lens camera. Further, the target distance acquisition unit 230 may specify the distance L by fusing or weighting the data related to the distance L specified by a plurality of different methods and adding them together.
  • the target position calculation unit 240 acquires the position information of the vehicle 20 detected by the GNSS receiving unit 25.
  • the target position calculation unit 240 is based on the reference position P1 of the vehicle 20 based on the position information detected by the GNSS receiving unit 25, the distance L acquired by the target distance acquisition unit 230, and the position of the object 310a in the image 300.
  • the position P2 of the pedestrian 80a in FIG. 4 is calculated.
  • the communication control unit 270 generates request information including position information indicating the position P2.
  • the position information included in the request information is coordinate information indicating the geographical position of the position P2.
  • the communication control unit 270 causes the transmission unit 290 to transmit the request information.
  • the terminal 82a and the terminal 82b each receive the request information transmitted from the transmission unit 290, the terminal 82a and the terminal 82b each extract the coordinate information of the position P2 from the request information.
  • Each of the terminal 82a and the terminal 82b determines whether or not each terminal 82 is in the vicinity of the point P2. For example, the terminal 82a and the terminal 82b each determine whether or not the distance between the current position of each terminal 82 and the point P2 is a predetermined distance D1 or less. Since the distance between the current position of the terminal 82a and the point P2 is D1 or less, the terminal 82a determines that the terminal 82a is in the vicinity of the point P2, and performs positioning using the GNSS signal.
  • the terminal 82a When the terminal 82a is set to perform positioning using the GNSS signal on the terminal 82a, the terminal 82a may perform the positioning using the GNSS signal separately from the periodic positioning. Even when the terminal 82a is prohibited from periodically performing positioning using the GNSS signal, the terminal 82a may perform positioning using the GNSS signal in response to receiving the request information. On the other hand, since the distance between the current position of the terminal 82 and the point P2 exceeds D1, the terminal 82b determines that the terminal 82b is not in the vicinity of the point P2 and does not perform repositioning according to the requested information. , Discard the request information.
  • the terminal 82a transmits the response information including the position information indicating the position of the point P3 measured by the positioning to the vehicle 20.
  • the target position calculation unit 240 corrects the position of the pedestrian 80a based on the point P3 indicated by the position information included in the response information.
  • the target position calculation unit 240 may determine that the pedestrian 80a is located at the point P3. Further, the target position calculation unit 240 assumes that the pedestrian 80a is located within the distance D2 with respect to the point P3, provided that the point P2 specified before the transmission of the request information is not within the distance D2. , The pedestrian 80a may be determined to be located at point P3. Then, the target identification unit 210 determines whether or not the pedestrian located at the point 3 has a risk of approaching the vehicle 20, and the pedestrian located at the point 3 has a risk of approaching the vehicle 20. When the determination is made, the transmission unit 290 transmits the warning information to the terminal 82a.
  • the target position calculation unit 240 determines that the pedestrian 80a is located at the point P2 when the distance between the points P2 and the point P3 specified before the transmission of the request information is the distance D2 or less. You can. In this case, the warning information may be transmitted to the terminal 82a without determining whether or not the pedestrian 80a is at risk of approaching the vehicle 20.
  • the communication control unit 270 may generate the warning information including the position information indicating the point P3 extracted from the response information and have the transmission unit 290 transmit the warning information.
  • the terminal 82a and the terminal 82b each receive the warning information transmitted from the transmission unit 290, the terminal 82a and the terminal 82b each extract the coordinate information of the point P3 from the warning information.
  • Each of the terminal 82a and the terminal 82b determines whether or not each terminal 82 is in the vicinity of the point P3. For example, the terminals 82a and 82b determine whether or not the distance between the current position of each terminal 82 and the point P3 is equal to or less than a predetermined distance D3. Since the distance between the current position of the terminal 82a and the point P3 is D3 or less, the terminal 82a determines that the terminal 82 is in the vicinity of the point P3 and outputs a warning. Note that D3 may have the same length as D1. D3 may be shorter than D1.
  • the transmission unit 290 may transmit request information including distance information indicating D1.
  • the transmission unit 290 may transmit warning information including the distance information indicating D3.
  • the speed calculation unit 260 may calculate the speed V2 of the pedestrian 80a. For example, the speed calculation unit 260 may calculate the speed V2 of the pedestrian 80a based on the amount of time change of the position calculated by the target position calculation unit 240.
  • the communication control unit 270 may select a transmission method in which the transmission unit 290 transmits the request information based on the speed V2.
  • the communication control unit 270 may select a transmission method in which the transmission unit 290 transmits the request information based on the speed V1 of the vehicle 20.
  • the communication control unit 270 may specify the speed V1 based on at least the speed of the vehicle 20 detected by the vehicle speed sensor 26.
  • the communication control unit 270 may specify the speed V1 based on the amount of time change in the position of the vehicle 20 detected by the GNSS reception unit 25.
  • the communication control unit 270 calculates the relative speed between the vehicle 20 and the pedestrian 80a based on the speed V1 and the speed V2, and selects a transmission method in which the transmission unit 290 transmits the request information based on the calculated relative speed. You may.
  • the communication control unit 270 may select a transmission method in which the transmission unit 290 transmits warning information based on the speed V2.
  • the communication control unit 270 may select a transmission method in which the transmission unit 290 transmits warning information based on the speed V1 of the vehicle 20.
  • the communication control unit 270 may select a transmission method in which the transmission unit 290 transmits warning information based on the relative speed between the vehicle 20 and the pedestrian 80a.
  • An example of a method in which the communication control unit 270 determines the transmission method based on the speed will be described later.
  • FIG. 5 schematically shows a flow of processing executed by the vehicle 20, the terminal 82a, and the terminal 82b.
  • FIG. 5 a case where a pedestrian is recognized as an object having a risk of approaching the vehicle 20 will be described.
  • the extraction unit 222 extracts a pedestrian object from the image acquired from the camera 22.
  • the extraction unit 222 determines whether or not there is a risk of approaching the vehicle 20 for each pedestrian corresponding to each extracted object.
  • the target position calculation unit 240 calculates the coordinates of a pedestrian who is at risk of approaching the vehicle 20.
  • the transmission unit 290 transmits the request information including the coordinate information of the pedestrian position calculated in S506.
  • the transmission unit 290 may transmit the request information by broadcasting without designating the terminal 82 as the destination of the warning information.
  • the transmission unit 290 may specify the terminal 82 as the destination of the request information and transmit the request information by unicast.
  • the transmission unit 290 may specify the addresses of surrounding terminals 82 acquired before transmitting the request information, and transmit the request information to the terminal 82 by unicast.
  • the transmission unit 290 acquires the address of the terminal 82 existing around the vehicle 20 by direct communication after specifying the coordinates of the pedestrian in S506 and before causing the transmission unit 290 to transmit the request information.
  • Warning information may be transmitted to the terminal 82 by unicast with the acquired address as the destination.
  • the transmission unit 290 acquires the address of the terminal 82 based on the beacon information transmitted from the terminal 82 existing around the vehicle 20, and transmits the request information to the terminal 82 by unicast with the acquired address as the destination. You can do it.
  • the terminal 82a determines in S520 whether or not to transmit the position information to the vehicle 20. For example, in the example shown in FIG. 4, the terminal 82a determines that the distance between the current position of the terminal 82a and the coordinates of the point P2 included in the request information is D1 or less. Therefore, the terminal 82a determines that the position information is transmitted to the vehicle, and performs positioning in S522. In addition, the terminal 82a may perform positioning in response to receiving the request information of the position information, and make a determination in S520. In S524, the response information including the coordinate information of the terminal 82a measured by the positioning is transmitted to the vehicle 20.
  • the response information includes the terminal ID of the terminal 82a that is the source of the response information.
  • the terminal ID included in the response information is an example of address information.
  • the terminal 82b determines in S530 that the distance between the current position of the terminal 82b and the point P2 included in the request information exceeds D1. As a result, the terminal 82b determines that the position information is not transmitted to the vehicle, and discards the request information without performing positioning. In addition, the terminal 82b may perform positioning in response to receiving the request information of the position information, and make a determination in S530.
  • the target position calculation unit 240 identifies the target of the warning based on the coordinate information of the terminal 82a included in the response information. For example, in the example shown in FIG. 4, the target position calculation unit 240 considers that the pedestrian 80a is located at the point P3 included in the response information, and walks when there is a risk that the pedestrian 80a approaches the vehicle 20. It may be determined that the person 80a is the target of the warning. When it is determined that the pedestrian 80a is the target of the warning, in S512, the transmission unit 290 transmits the warning information addressed to the terminal ID of the transmission source of the response information received in S524. In this way, when the terminal ID of the destination of the warning information can be specified, the transmission unit 290 may transmit the warning information by unicast.
  • the terminal 82a When the terminal 82a receives the warning information from the communication device 24, the terminal 82a performs warning positioning on the pedestrian 80a using the HMI function of the terminal 82a in S526.
  • the terminal 82b receives the radio wave of the warning information transmitted by the communication device 24, but since the terminal 82b does not correspond to the destination of the warning information, the warning information is discarded without giving a warning.
  • the driving support control device 30 After transmitting the warning information in S512 in the vehicle 20, the driving support control device 30 provides driving support in S514.
  • the driving support control device 30 uses the function of the collision damage reduction braking control device (Advanced Emergency Breaking System) to decelerate the vehicle 20 or to reduce the speed of the vehicle 20 or to hear the beam passing or the horn when a predetermined condition is satisfied. May notify the pedestrian of the approach of the vehicle 20 by performing the above.
  • the collision damage reduction braking control device Advanced Emergency Breaking System
  • FIG. 6 schematically shows the flow of other processing executed by the vehicle 20, the terminal 82a, and the terminal 82b.
  • the processing of S502, S504, S506, S508, S514, S520, S522 and S530 of FIG. 6 is the same as the processing of S502, S504, S506, S508, S514, S520, S522 and S530 of FIG. 5, respectively. Is omitted.
  • the terminal 82a After positioning in S522, the terminal 82a transmits the response information including the coordinate information of the terminal 82a measured by the positioning in S624 to the vehicle 20.
  • the response information does not include the terminal ID of the terminal 82a that is the source of the response information.
  • the target position calculation unit 240 identifies the target of the warning based on the coordinate information of the terminal 82a included in the response information. Since the processing of S610 is the same as the processing of S510, the description thereof will be omitted.
  • the transmission unit 290 transmits the warning information including the position information received in S624.
  • the transmission unit 290 may broadcast the warning information including the location information without designating the terminal 82 to which the warning information is transmitted.
  • the terminal 82a determines in S626 whether or not to give a warning. For example, in the example shown in FIG. 4, the terminal 82a determines that the distance between the current position of the terminal 82a and the coordinates of the point P3 included in the warning information is D3 or less. Therefore, the terminal 82a warns the pedestrian 80a by using the HMI function of the terminal 82a in S628. On the other hand, the terminal 82b determines in S632 that the distance between the current position of the terminal 82b and the point P3 included in the warning request information exceeds D3. As a result, the terminal 82b discards the warning information without giving a warning.
  • the transmission unit 290 transmits the warning information by unicast when the terminal ID is included in the response information.
  • FIG. 6 a mode in which warning information including the coordinate information of the terminal 82 is transmitted by broadcasting when the terminal ID is not included in the response information has been described.
  • the processes of FIGS. 5 and 6 may be arbitrarily combined.
  • the warning information including the coordinate information of the terminal 82 may be transmitted to the terminal 82a by unicast, and the terminal 82a may perform the processing of S626.
  • the warning information including the coordinate information of the terminal 82a may be transmitted by broadcasting, and the terminal 82a may perform the processing of S626.
  • FIG. 7 shows a data structure of transmission method information referred to by the communication control unit 270 to specify the transmission method.
  • the transmission method information associates the type, the speed, and the transmission method.
  • the communication control unit 270 determines the transmission method of at least one of the request information and the warning information with reference to the transmission method information.
  • the transmission method information is stored in the storage unit 280. In order to avoid making the explanation redundant, the request information and the warning information are referred to as "transmission information" in the explanation of FIG. 7.
  • the "type” is information that identifies the type of an object that may be the target of a warning, such as a "pedestrian” or a "car”.
  • "Velocity” is information indicating the range of velocities of an object that can be the subject of a warning.
  • Transmission method is information that identifies the transmission method of transmission information.
  • the “transmission method” may include information that determines the transmission signal strength of the transmission information.
  • the “method 2" may be a transmission method for transmitting with a higher signal strength than the "method 1".
  • the “transmission method” may include information that determines whether transmission information is transmitted by unicast transmission or broadcast transmission. For example, “method 1" may be “unicast” and “method 2" may be “broadcast”.
  • the "transmission method” may include information that determines the number of repeated transmissions of transmission information in the case of broadcast transmission.
  • the "method 2" may be a transmission method for transmitting with a larger number of repeated transmissions than the "method 1".
  • the "transmission method” may include information that determines the period for which the transmission information is repeatedly transmitted in the case of broadcast transmission.
  • the "method 2" may be a transmission method for transmitting with a repetitive transmission period longer than that of the "method 1".
  • the “transmission method” may include information that determines the frequency of repeated transmission of transmission information in the case of broadcast transmission.
  • “method 2" may be a transmission method in which transmission is performed with a higher repetitive transmission frequency than "method 1".
  • the “transmission method” may include information that determines a time interval for repeatedly transmitting transmission information in the case of broadcast transmission.
  • the “method 2” may be a transmission method in which transmission is performed at a repeating transmission interval shorter than that of the "method 1".
  • the "transmission method” may include information indicating whether or not to perform retransmission control of transmission information in unicast transmission.
  • “method 1” may be a transmission method that does not perform retransmission control
  • “method 2” may be a transmission method that performs retransmission control.
  • the "transmission method” may include information indicating the number of retransmission attempts for retrying transmission information in unicast transmission.
  • the "method 2" may be a transmission method for transmitting with a larger number of retransmission attempts than the "method 1".
  • the “transmission method” may include information that identifies whether or not transmission information is transmitted by the PC 5.
  • the “transmission method” may include information that identifies whether or not transmission information is transmitted by DSRC (registered trademark).
  • the “transmission method” may include information identifying whether or not to transmit transmission information via Bluetooth®. For example, “method 1" may indicate that transmission information is transmitted by DSRC (registered trademark), and “method 2" may indicate that transmission information is transmitted by PC5.
  • the communication control unit 270 selects a transmission method associated with the combination of the type specified by the target identification unit 210 and the movement speed calculated by the speed calculation unit 260 in the transmission method information, and uses the selected transmission method. Send.
  • a transmission method associated with the combination of the type specified by the target identification unit 210 and the movement speed calculated by the speed calculation unit 260 in the transmission method information uses the selected transmission method.
  • Send As an example, a case where "method 1" is a "unicast” transmission method and "method 2" is a "broadcast” transmission method will be described.
  • the communication control unit 270 refers to the transmission method information and selects at least a "broadcast” transmission method when the speed is faster than a predetermined speed.
  • the type of warning target is a pedestrian
  • select "Unicast” if the speed of the pedestrian is 2 km / s or less
  • select "Unicast” if the speed of the pedestrian exceeds 2 km / s
  • select "Broadcast” if the type of warning target is a car
  • select "Unicast” if the vehicle speed is 5 km / s or less
  • select "Broadcast” if the vehicle speed exceeds 5 km / s.
  • the “transmission method” may define a combination of a plurality of transmission methods.
  • the “transmission method” may be defined to transmit the transmission information by "unicast” and "broadcast” in association with the case where the vehicle speed of the automobile exceeds 5 km / s.
  • the communication control unit 270 selects the transmission method of the transmission information based on the type of the target extracted by the extraction unit 222. As a result, the communication control unit 270 can select the transmission method of the transmission information according to the type of the target and the high risk based on the movement speed of the target.
  • the selection of the transmission method described above is merely an example. The selection of the transmission method is optimal by comprehensively considering the type of target, the risk of the target approaching the vehicle 20, the time until the target approaches the vehicle 20, the reliability of communication, the degree of congestion of communication, and the like.
  • the transmission method may be selected. For example, "method 1" may be "broadcast” and "method 2" may be "unicast".
  • the transmission unit 290 may transmit transmission information including type information indicating the type of the target extracted by the extraction unit 222.
  • the type information included in the transmission information is extracted, and if the extracted type information does not match the type information predetermined for the terminal 82, the terminal 82 does not perform a warning or positioning. You may judge that. For example, when the vehicle 20 transmits transmission information including the type information of "pedestrian", other vehicles that have received the transmission information do not conform to the type indicated by the type information included in the transmission information, so that a warning or a warning is given. It may be determined that positioning is not performed.
  • FIG. 8 shows a flowchart relating to a communication method executed by the communication device 24.
  • the communication device 24 repeatedly executes the process from the start point S700 of the warning processing loop to the end point S728 of the warning processing loop.
  • the communication device 24 ends the warning processing loop when a predetermined condition is satisfied at at least one of the warning processing start point S700 and the warning processing end point S728.
  • the moving body position information acquisition unit 250 and the speed calculation unit 260 acquire the current position and the moving speed of the vehicle 20, respectively.
  • the moving body position information acquisition unit 250 acquires the position information sequentially output from the GNSS receiving unit 25.
  • the speed calculation unit 260 acquires speed information sequentially output from the vehicle speed sensor 26.
  • the extraction unit 222 extracts an object having a risk of approaching the vehicle 20 from the image acquired by the image acquisition unit 220 from the camera 22. In addition, the extraction unit 222 identifies the type of target that has a risk of approaching the vehicle 20 from the image.
  • the target distance acquisition unit 230 determines whether or not a target having a risk of approaching the vehicle 20 has been extracted. If a target having a risk of approaching the vehicle 20 is not extracted, the process proceeds to S728. On the other hand, when a target having a risk of approaching the vehicle 20 is extracted, in S708, the target distance acquisition unit 230 acquires the distance to the target extracted in S704. The target distance acquisition unit 230 acquires the distance to the target extracted in S704 based on the distance measurement information of the radar 21 and the analysis result of the image acquired by the image acquisition unit 220.
  • the target position calculation unit 240 calculates the position of the target extracted in S704. Specifically, the target position calculation unit 240 uses the position of the vehicle acquired in S702, the distance to the target acquired in S708, and the position of the target in the image, and the position of the target extracted in S704. Calculate the geographical coordinates that indicate.
  • the speed calculation unit 260 calculates the moving speed of the target extracted in S704. For example, the velocity calculation unit 260 may calculate the velocity of the target extracted in S704 based on the amount of time change of the position of the target extracted in S704. The speed calculation unit 260 may calculate the relative moving speed between the target and the vehicle 20.
  • the communication control unit 270 selects a request information transmission method based on the movement speed calculated in S712 and the type of the target extracted in S704.
  • the transmission unit 290 transmits the request information including the target coordinates calculated in S710 according to the transmission method selected in S714.
  • the receiving unit 292 receives the response information including the coordinate information of the terminal 82.
  • the target position calculation unit 240 corrects the target position based on the coordinate information included in the response information. For example, the target position calculation unit 240 may consider the coordinate information included in the response information as the target position information.
  • the target identification unit 210 determines whether or not the target has a risk of approaching the vehicle 20. If it is determined that there is no danger of the target approaching the vehicle 20, the process proceeds to S728. On the other hand, when it is determined that the target has a risk of approaching the vehicle 20, in S724, the communication control unit 270 receives the warning information based on the moving speed calculated in S712 and the type of the target extracted in S704. Select the transmission method. Then, in S726, the transmission unit 290 transmits warning information according to the transmission method selected in S724.
  • the communication device 24 since the communication device 24 transmits the request information including the position information, it is possible to suppress the terminal 82 of the pedestrian 80 who does not have a risk of approaching the vehicle 20 from performing positioning. Can be done. In addition, the communication device 24 can determine whether or not it is necessary to warn the pedestrian 80 by using the latest position information measured by the terminal 82. Further, the communication device 24 can transmit warning information based on the latest position information of the terminal 82. Therefore, it is possible to prevent the pedestrian 80 who does not need the warning from being warned. Further, it is possible to suppress the occurrence of unnecessary communication between the terminal 82 and the vehicle 20.
  • each terminal 82 only needs to calculate the distance between the position information included in the request information and the warning information and the current position of the terminal 82, and determines the position of the vehicle 20 approaching the pedestrian 80. It is not necessary for each terminal 82 to perform a process such as confirmation. Therefore, the load on the terminal 82 can be reduced.
  • the vehicle 20 is an example of transportation equipment.
  • Transportation equipment includes automobiles such as passenger cars and buses, saddle-type vehicles, bicycles, and the like.
  • mobile objects include automobiles such as passenger cars and buses, saddle-type vehicles, and transportation equipment such as bicycles.
  • FIG. 9 shows an example of a computer 2000 in which a plurality of embodiments of the present invention can be embodied in whole or in part.
  • the program installed on the computer 2000 causes the computer 2000 to function as a device such as the communication device 24 according to the embodiment or each part of the device, perform an operation associated with the device or each part of the device, and / or ,
  • the process according to the embodiment or the stage of the process can be executed.
  • Such a program may be executed by the CPU 2012 to cause the computer 2000 to perform specific operations associated with some or all of the processing procedures and blocks of the block diagram described herein.
  • the computer 2000 includes a CPU 2012 and a RAM 2014, which are connected to each other by a host controller 2010.
  • the computer 2000 also includes a ROM 2026, a flash memory 2024, a communication interface 2022, and an input / output chip 2040.
  • the ROM 2026, the flash memory 2024, the communication interface 2022, and the input / output chip 2040 are connected to the host controller 2010 via the input / output controller 2020.
  • the CPU 2012 operates according to the programs stored in the ROM 2026 and the RAM 2014, thereby controlling each unit.
  • the communication interface 2022 communicates with other electronic devices via the network.
  • the flash memory 2024 stores programs and data used by the CPU 2012 in the computer 2000.
  • the ROM 2026 stores a boot program or the like executed by the computer 2000 at the time of activation, and / or a program depending on the hardware of the computer 2000.
  • the input / output chip 2040 also allows various input / output units such as keyboards, mice and monitors to input / output units such as serial ports, parallel ports, keyboard ports, mouse ports, monitor ports, USB ports, HDMI® ports, etc. It may be connected to the input / output controller 2020 via the output port.
  • the program is provided via a computer-readable medium such as a CD-ROM, DVD-ROM, or memory card or a network.
  • RAM 2014, ROM 2026, or flash memory 2024 are examples of computer-readable media.
  • the program is installed in flash memory 2024, RAM 2014, or ROM 2026 and is executed by CPU 2012.
  • the information processing described in these programs is read by the computer 2000 and provides a link between the program and the various types of hardware resources described above.
  • the device or method may be configured to implement the operation or processing of information in accordance with the use of computer 2000.
  • the CPU 2012 executes the communication program loaded in the RAM 2014, and performs communication processing on the communication interface 2022 based on the processing described in the communication program. You may order.
  • the communication interface 2022 reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2014 and the flash memory 2024, transmits the read transmission data to the network, and transmits the read transmission data from the network.
  • the received received data is written to the reception buffer processing area or the like provided on the recording medium.
  • the CPU 2012 makes the RAM 2014 read all or necessary parts of the file or the database stored in the recording medium such as the flash memory 2024, and executes various kinds of processing on the data on the RAM 2014. good. The CPU 2012 then writes back the processed data to the recording medium.
  • the CPU 2012 refers to the data read from the RAM 2014 in various types of operations, information processing, conditional determination, conditional branching, unconditional branching, information retrieval / described in the present specification and specified by the instruction sequence of the program. Various types of processing, including replacement, may be performed and the results are written back to RAM 2014. Further, the CPU 2012 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 2012 specifies the attribute value of the first attribute. The entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and the first attribute satisfying the predetermined condition is selected. You may get the attribute value of the associated second attribute.
  • the program or software module described above may be stored on or on a computer-readable medium near the computer 2000.
  • a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer readable medium.
  • a program stored in a computer-readable medium may be provided to the computer 2000 via a network.
  • a program installed in the computer 2000 that causes the computer 2000 to function as the communication device 24 may act on the CPU 2012 or the like to cause the computer 2000 to function as each part of the communication device 24.
  • the information processing described in these programs is read into the computer 2000, it functions as each part of the communication device 24, which is a concrete means in which the software and the various hardware resources described above cooperate with each other. Then, by realizing the calculation or processing of information according to the purpose of use of the computer 2000 in the present embodiment by these specific means, a unique communication device 24 according to the purpose of use is constructed.
  • each block may represent (1) the stage of the process in which the operation is performed or (2) each part of the device responsible for performing the operation.
  • Specific stages and parts are implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on computer-readable media, and / or processors supplied with computer-readable instructions stored on computer-readable media.
  • Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits.
  • Programmable circuits are memory elements such as logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. May include reconfigurable hardware circuits, including, etc.
  • the computer-readable medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer-readable medium having the instructions stored therein is specified in the processing procedure or block diagram. Consists of at least a portion of a product that contains instructions that can be executed to provide a means to perform the performed operation. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like.
  • Computer-readable media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), Electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick, integrated A circuit card or the like may be included.
  • RAM random access memory
  • ROM read-only memory
  • EPROM or flash memory erasable programmable read-only memory
  • EEPROM Electrically erasable programmable read-only memory
  • SRAM static random access memory
  • CD-ROM compact disc read-only memory
  • DVD digital versatile disc
  • RTM Blu-ray
  • Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Contains either source code or object code written in any combination of one or more programming languages, including languages and traditional procedural programming languages such as the "C" programming language or similar programming languages. good.
  • Computer-readable instructions are applied to a general-purpose computer, a special-purpose computer, or the processor or programmable circuit of another programmable data processing device, either locally or in a wide area network (WAN) such as the local area network (LAN), the Internet, and the like.
  • WAN wide area network
  • a computer-readable instruction may be executed to provide a means for performing the processing procedure or operation specified in the block diagram provided via).
  • processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.
  • Warning system 20 Vehicle 21 Radar 22 Camera 24 Communication device 25 GNSS receiver 26 Vehicle speed sensor 29 Sensor 30 Driving support control device 50 Roadway 60 Sidewalk 80 Pedestrian 82 Terminal 100 Vehicle 200 Processing unit 210 Target identification unit 220 Image acquisition unit 222 Extraction Unit 230 Target distance acquisition unit 240 Target position calculation unit 250 Moving body position information acquisition unit 260 Speed calculation unit 270 Communication control unit 280 Storage unit 290 Transmission unit 292 Reception unit 294 Communication unit 300 Image 310 Object 2000 Computer 2010 Host controller 2012 CPU 2014 RAM 2020 Input / Output Controller 2022 Communication Interface 2024 Flash Memory 2026 ROM 2040 Input / Output Chip

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Emergency Management (AREA)
  • Environmental & Geological Engineering (AREA)
  • Public Health (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif de communication comprenant une unité d'identification de cible qui identifie la position d'une cible susceptible de venir à proximité d'un corps mobile. Le dispositif de communication est pourvu d'une unité de transmission qui transmet, sur la base de la position de la cible identifiée par l'unité d'identification de cible, des informations de demande incluant des informations de position d'un terminal externe qui devient un sujet pour lequel des informations de position doivent être demandées. Le dispositif de communication est pourvu d'une unité de réception qui reçoit des informations de réponse relatives aux informations de demande. L'unité de transmission transmet des informations d'avertissement sur la base des informations de position du terminal externe incluses dans les informations de réponse.
PCT/JP2020/009000 2020-03-03 2020-03-03 Dispositif de communication, véhicule, programme, et procédé de communication WO2021176575A1 (fr)

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JP2022504827A JP7403629B2 (ja) 2020-03-03 2020-03-03 通信装置、車両、プログラム、及び通信方法
CN202080095423.XA CN115039158B (zh) 2020-03-03 2020-03-03 通信装置、车辆、计算机可读存储介质和通信方法
PCT/JP2020/009000 WO2021176575A1 (fr) 2020-03-03 2020-03-03 Dispositif de communication, véhicule, programme, et procédé de communication
US17/897,231 US20220406190A1 (en) 2020-03-03 2022-08-29 Communication device, vehicle, computer-readable storage medium, and communication method

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US20220406190A1 (en) 2022-12-22
CN115039158B (zh) 2023-12-29

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